{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,8]],"date-time":"2026-04-08T22:04:33Z","timestamp":1775685873372,"version":"3.50.1"},"reference-count":35,"publisher":"Springer Science and Business Media LLC","issue":"6","license":[{"start":{"date-parts":[[2021,6,27]],"date-time":"2021-06-27T00:00:00Z","timestamp":1624752000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,6,27]],"date-time":"2021-06-27T00:00:00Z","timestamp":1624752000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/100000006","name":"Office of Naval Research","doi-asserted-by":"crossref","award":["N00014-17-1-2050"],"award-info":[{"award-number":["N00014-17-1-2050"]}],"id":[{"id":"10.13039\/100000006","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2021,9]]},"DOI":"10.1007\/s10514-021-09996-3","type":"journal-article","created":{"date-parts":[[2021,6,27]],"date-time":"2021-06-27T12:02:16Z","timestamp":1624795336000},"page":"937-956","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Long-horizon humanoid navigation planning using traversability estimates and previous experience"],"prefix":"10.1007","volume":"45","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5259-534X","authenticated-orcid":false,"given":"Yu-Chi","family":"Lin","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dmitry","family":"Berenson","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2021,6,27]]},"reference":[{"key":"9996_CR1","doi-asserted-by":"crossref","unstructured":"Baudouin, L., Perrin, N., Moulard, T., Lamiraux, F., Stasse, O., & Yoshida, E. (2011). Real-time replanning using 3d environment for humanoid robot. In IEEE-RAS international conference on humanoid robots (humanoids).","DOI":"10.1109\/Humanoids.2011.6100844"},{"key":"9996_CR2","doi-asserted-by":"crossref","unstructured":"Brandao, M., Fallon, M., & Havoutis, I. (2019). Multi-controller multi-objective locomotion planning for legged robots. In 2019 IEEE\/RSJ international conference on intelligent robots and systems (IROS)","DOI":"10.1109\/IROS40897.2019.8967926"},{"key":"9996_CR3","doi-asserted-by":"crossref","unstructured":"Caron, S., Pham, Q., & Nakamura, Y. (2015). Leveraging cone double description for multi-contact stability of humanoids with applications to statics and dynamics. In Robotics: Science and systems (RSS).","DOI":"10.15607\/RSS.2015.XI.028"},{"key":"9996_CR4","unstructured":"Chestnutt, J., Kuffner, J., Nishiwaki, K., & Kagami, S. (2003). Planning biped navigation strategies in complex environments. In IEEE-RAS international conference on humanoid robots (Humanoids)."},{"key":"9996_CR5","doi-asserted-by":"crossref","unstructured":"Chilian, A., & Hirschmuller, H. (2009). Stereo camera based navigation of mobile robots on rough terrain. In IEEE\/RSJ international conference on intelligent robots and systems (IROS).","DOI":"10.1109\/IROS.2009.5354535"},{"key":"9996_CR6","doi-asserted-by":"crossref","unstructured":"Chung, S., & Khatib, O. (2015). Contact-consistent elastic strips for multi-contact locomotion planning of humanoid robots. In IEEE international conference on robotics and automation (ICRA).","DOI":"10.1109\/ICRA.2015.7140082"},{"key":"9996_CR7","doi-asserted-by":"crossref","unstructured":"Cunningham, C., Whittaker, W. L., & Nesnas, I. A. (2017). Improving slip prediction on mars using thermal inertia measurements. In Robotics: Science and systems (RSS).","DOI":"10.15607\/RSS.2017.XIII.038"},{"key":"9996_CR8","doi-asserted-by":"crossref","unstructured":"Deits, R., Tedrake, R. (2014). Footstep planning on uneven terrain with mixed-integer convex optimization. In IEEE-RAS international conference on humanoid robots (humanoids).","DOI":"10.21236\/ADA609276"},{"key":"9996_CR9","unstructured":"Diankov, R. (2010). Automated construction of robotic manipulation programs. PhD thesis, Carnegie Mellon University."},{"key":"9996_CR10","doi-asserted-by":"crossref","unstructured":"Dornbush, A., Vijayakumar, K., Bardapurkar, S., Islam, F., Ito, M., & Likhachev, M. (2018). A single-planner approach to multi-modal humanoid mobility. In 2018 IEEE international conference on robotics and automation (ICRA) (pp. 4334\u20134341).","DOI":"10.1109\/ICRA.2018.8461134"},{"key":"9996_CR11","doi-asserted-by":"publisher","first-page":"293","DOI":"10.1007\/978-3-642-00196-3_35","volume":"2","author":"A Escande","year":"2009","unstructured":"Escande, A., Kheddar, A., Miossec, S., & Garsault, S. (2009). Planning support contact-points for acyclic motions and experiments on HRP-2. Experimental Robotics, 2, 293\u2013302.","journal-title":"Experimental Robotics"},{"issue":"1","key":"9996_CR12","doi-asserted-by":"publisher","first-page":"25","DOI":"10.1002\/rob.21670","volume":"34","author":"Z Fang","year":"2017","unstructured":"Fang, Z., Yang, S., Jain, S., Dubey, G., Roth, S., Maeta, S., et al. (2017). Robust autonomous flight in constrained and visually degraded shipboard environments. Journal of Field Robotics, 34(1), 25\u201352. https:\/\/doi.org\/10.1002\/rob.21670.","journal-title":"Journal of Field Robotics"},{"key":"9996_CR13","doi-asserted-by":"crossref","unstructured":"Fernbach, P., Tonneau, S., & Ta\u00efx, M. (2018) CROC: Convex resolution of centroidal dynamics trajectories to provide a feasibility criterion for the multi contact planning problem. In IEEE\/RSJ international conference on intelligent robots and systems (IROS).","DOI":"10.1109\/IROS.2018.8593888"},{"issue":"3","key":"9996_CR14","doi-asserted-by":"publisher","first-page":"676","DOI":"10.1109\/TRO.2020.2964787","volume":"36","author":"P Fernbach","year":"2020","unstructured":"Fernbach, P., Tonneau, S., Stasse, O., Carpentier, J., & Ta\u00efx, M. (2020). C-CROC: Continuous and convex resolution of centroidal dynamic trajectories for legged robots in multicontact scenarios. IEEE Transactions on Robotics, 36(3), 676\u2013691. https:\/\/doi.org\/10.1109\/TRO.2020.2964787.","journal-title":"IEEE Transactions on Robotics"},{"key":"9996_CR15","unstructured":"Grey, M. X., Liu, C.K., & Ames, A. D. (2016). Traversing environments using possibility graphs with multiple action types. arXiv e-prints"},{"key":"9996_CR16","doi-asserted-by":"crossref","unstructured":"Grey, M. X., Ames, A. D., Liu, C. K. (2017). Footstep and motion planning in semi-unstructured environments using randomized possibility graphs. In: IEEE International Conference on Robotics and Automation (ICRA).","DOI":"10.1109\/ICRA.2017.7989551"},{"key":"9996_CR17","doi-asserted-by":"publisher","unstructured":"Griffin, R. J., Wiedebach, G., McCrory, S., Bertrand, S., Lee, I., & Pratt, J. (2019). Footstep planning for autonomous walking over rough terrain. In: 2019 IEEE-RAS 19th international conference on humanoid robots (humanoids) (pp. 9\u201316). https:\/\/doi.org\/10.1109\/Humanoids43949.2019.9035046.","DOI":"10.1109\/Humanoids43949.2019.9035046"},{"key":"9996_CR18","doi-asserted-by":"crossref","unstructured":"Hornung, A., Dornbush, A., Likhachev, M., & Bennewitz, M. (2012). Anytime search-based footstep planning with suboptimality bounds. In: IEEE-RAS international conference on humanoid robots (humanoids).","DOI":"10.1109\/HUMANOIDS.2012.6651592"},{"key":"9996_CR19","doi-asserted-by":"crossref","unstructured":"Kanoun, O., Yoshida, E., & Laumond, J. P. (2009). An optimization formulation for footsteps planning. In IEEE-RAS international conference on humanoid robots (humanoids).","DOI":"10.1109\/ICHR.2009.5379527"},{"key":"9996_CR20","doi-asserted-by":"crossref","unstructured":"Knabe, C., Seminatore, J., Webb, J., Hopkins, M., Furukawa, T., Leonessa, A., & Lattimer, B. (2015). Design of a series elastic humanoid for the DARPA robotics challenge. In IEEE-RAS international conference on humanoid robots (humanoids).","DOI":"10.1109\/HUMANOIDS.2015.7363452"},{"key":"9996_CR21","unstructured":"Kuffner, J., Nishiwaki, K., Kagami, S., Inaba, M., & Inoue, H. (2001). Footstep planning among obstacles for biped robots. In: IEEE\/RSJ international conference on intelligent robots and systems (IROS)."},{"key":"9996_CR22","doi-asserted-by":"crossref","unstructured":"Kumagai, I., Morisawa, M., Benallegue, M., & Kanehiro, F. (2019). Bipedal locomotion planning for a humanoid robot supported by arm contacts based on geometrical feasibility. In IEEE-RAS international conference on humanoid robots (humanoids).","DOI":"10.1109\/Humanoids43949.2019.9035072"},{"key":"9996_CR23","doi-asserted-by":"crossref","unstructured":"Lin, Y., & Berenson, D. (2016). Using previous experience for humanoid navigation planning. In IEEE-RAS international conference on humanoid robots (humanoids).","DOI":"10.1109\/HUMANOIDS.2016.7803364"},{"key":"9996_CR24","doi-asserted-by":"crossref","unstructured":"Lin, Y., & Berenson, D. (2017). Humanoid navigation in uneven terrain using learned estimates of traversability. In: IEEE-RAS international conference on humanoid robots (humanoids).","DOI":"10.1109\/HUMANOIDS.2017.8239531"},{"key":"9996_CR25","doi-asserted-by":"crossref","unstructured":"Lin, Y., & Berenson, D. (2018). Humanoid navigation planning in large unstructured environments using traversability-based segmentation. In IEEE\/RSJ international conference on intelligent robots and systems (IROS).","DOI":"10.1109\/IROS.2018.8593694"},{"key":"9996_CR26","doi-asserted-by":"crossref","unstructured":"Lin, Y., Ponton, B., Righetti, L., & Berenson, D. (2019). Efficient humanoid contact planning using learned centroidal dynamics prediction. In: International conference on robotics and automation (ICRA).","DOI":"10.1109\/ICRA.2019.8794032"},{"key":"9996_CR27","doi-asserted-by":"publisher","unstructured":"Maier, D., Lutz, C., & Bennewitz, M. (2013) Integrated perception, mapping, and footstep planning for humanoid navigation among 3d obstacles. In: 2013 IEEE\/RSJ international conference on intelligent robots and systems (pp. 2658\u20132664). https:\/\/doi.org\/10.1109\/IROS.2013.6696731.","DOI":"10.1109\/IROS.2013.6696731"},{"key":"9996_CR28","doi-asserted-by":"crossref","unstructured":"Michel, P., Chestnutt, J., Kuffner, J., & Kanade, T. (2005). Vision-guided humanoid footstep planning for dynamic environments. In IEEE-RAS international conference on humanoid robots (humanoids).","DOI":"10.1109\/ICHR.2005.1573538"},{"issue":"1\u20132","key":"9996_CR29","doi-asserted-by":"publisher","first-page":"189","DOI":"10.1007\/s10514-012-9293-0","volume":"33","author":"S Scherer","year":"2012","unstructured":"Scherer, S., Rehder, J., Achar, S., Cover, H., Chambers, A., Nuske, S., & Singh, S. (2012). River mapping from a flying robot: State estimation, river detection, and obstacle mapping. Autonomous Robots, 33(1\u20132), 189\u2013214. https:\/\/doi.org\/10.1007\/s10514-012-9293-0.","journal-title":"Autonomous Robots"},{"issue":"1","key":"9996_CR30","doi-asserted-by":"publisher","first-page":"69","DOI":"10.1007\/s10514-007-9063-6","volume":"24","author":"M Shneier","year":"2008","unstructured":"Shneier, M., Chang, T., Hong, T., Shackleford, W., Bostelman, R., & Albus, J. S. (2008). Learning traversability models for autonomous mobile vehicles. Autonomous Robots, 24(1), 69\u201386.","journal-title":"Autonomous Robots"},{"key":"9996_CR31","doi-asserted-by":"crossref","unstructured":"Suger, B., Steder, B., & Burgard, W. (2015). Traversability analysis for mobile robots in outdoor environments: A semi-supervised learning approach based on 3d-lidar data. In IEEE international conference on robotics and automation (ICRA).","DOI":"10.1109\/ICRA.2015.7139749"},{"issue":"3","key":"9996_CR32","doi-asserted-by":"publisher","first-page":"586","DOI":"10.1109\/TRO.2018.2819658","volume":"34","author":"S Tonneau","year":"2018","unstructured":"Tonneau, S., Prete, A. D., Pettr\u00e9, J., Park, C., Manocha, D., & Mansard, N. (2018). An efficient acyclic contact planner for multiped robots. IEEE Transactions on Robotics, 34(3), 586\u2013601.","journal-title":"IEEE Transactions on Robotics"},{"key":"9996_CR33","doi-asserted-by":"crossref","unstructured":"van den Berg, J., Shah, R., Huang, A., & Goldberg, K. (2011). Anytime nonparametric A*. In AAAI.","DOI":"10.1609\/aaai.v25i1.7819"},{"issue":"2","key":"9996_CR34","doi-asserted-by":"publisher","first-page":"1509","DOI":"10.1109\/LRA.2019.2895390","volume":"4","author":"L Wellhausen","year":"2019","unstructured":"Wellhausen, L., Dosovitskiy, A., Ranftl, R., Walas, K., Cadena, C., & Hutter, M. (2019). Where should I walk? Predicting terrain properties from images via self-supervised learning. IEEE Robotics and Automation Letters, 4(2), 1509\u20131516. https:\/\/doi.org\/10.1109\/LRA.2019.2895390.","journal-title":"IEEE Robotics and Automation Letters"},{"key":"9996_CR35","doi-asserted-by":"crossref","unstructured":"Wermelinger, M., Fankhauser, P., Diethelm, R., Kr\u00fcsi, P., Siegwart, R., & Hutter, M. (2016). Navigation planning for legged robots in challenging terrain. In IEEE\/RSJ international conference on intelligent robots and systems (IROS).","DOI":"10.1109\/IROS.2016.7759199"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-021-09996-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10514-021-09996-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-021-09996-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,1,1]],"date-time":"2023-01-01T17:22:40Z","timestamp":1672593760000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10514-021-09996-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,6,27]]},"references-count":35,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2021,9]]}},"alternative-id":["9996"],"URL":"https:\/\/doi.org\/10.1007\/s10514-021-09996-3","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,6,27]]},"assertion":[{"value":"15 February 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 May 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"27 June 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}